CN105979983A

CN105979983A - Pump startup algorithms and related systems and methods

Info

Publication number: CN105979983A
Application number: CN201580006498.5A
Authority: CN
Inventors: 格兰特·亚当斯; 威廉·罗西; 吉姆·德罗斯特; 埃里克·维尔科夫斯基; 拉里·扎列斯基; 泰勒·道登; 雅各布·万德; 贝丝·克雷格尔; 西姆·赖利
Original assignee: Smiths Medical ASD Inc
Current assignee: Smiths Medical ASD Inc
Priority date: 2014-02-11
Filing date: 2015-01-27
Publication date: 2016-09-28
Also published as: CA2938092A1; US20160346462A1; US11179515B2; US20190240397A1; EP3104906A4; WO2015123012A1; US10293103B2; EP3104906A1; US20220080110A1

Abstract

An infusion pump includes a pumping mechanism having at least one sensor and a pump motor and a pump control subsystem configured to control operation of the pumping mechanism, the pump control subsystem including a processor, a memory, and a startup module configured to drive the pump motor at a first rate, receive input from the at least one sensor, and drive the pump motor at a second rate based on the input received from the at least one sensor. Startup algorithms command an infusion pump to reach a targeted delivery rate or steady state in minimal time without requiring priming of the pump line or otherwise engaging in known methods of pump startup analysis.

Description

Pump startup algorithm and related system and method

Related application

This application claims the preferential of the application that U.S. Provisional Application No. is 61/938,264 submitted on February 11st, 2014 Power, above-mentioned application is hereby incorporated by with its entirety by quoting.

Technical field

Present subject matter relates generally to infusion pump, and more particularly relates to the starting algorithm of infusion pump and be correlated with System and method.

Background technology

Infusion pump is for providing the fluid of regulation, medicine and other treatment to the highly useful armarium of patient. Such as, such as the medicine of antibiotic, chemotherapeutics and analgesic etc is generally transported to patient as nutrition via infusion pump Element and other supplement.Infusion pump has been used for hospital, sanatorium and other short-term and long term medical facility, and for family Nursing.Infusion pump can be useful especially for needing the conveying extending the Drug therapy of the administration of time period.There are many classes The infusion pump of type, including large volume, Patient Controlled Analgesia's method (PCA), elastomer, syringe, enteral and insulin pump.Infusion pump The various paths of medicine conveying are typically the most useful, including vein, tremulous pulse, subcutaneous, intraperitoneal, near neural and enter Enter to operative site, epidural space or subarachnoid space.

Measuring of the effectiveness of infusion pump is startup time or the beginning and instantaneous defeated of transfusion at the user interface of pump Transmission rate actually reaches the time span between the moment of its expection stable state.Need to carry within the persistent period of considered critical Accurately and the infusion pump application of the least fluid volume depends not only upon induction system and accurately realizes and remain The ability of specific flow velocity, and depend on above-mentioned transition or startup time.

With reference to Fig. 1, traditional infusion pump on startup between period be likely to be of significant error, this causes safety problem, example As patient carried deficiency or conveying excess.As shown in the traditional infusion pump example of Fig. 1, wherein by minute in units of time edge X-axis is described and is described along y-axis with ml/hour (ml/hr) flow velocity as unit, and actual fed speed needs to reach for 30 minutes Targeted delivery speed (stable state).In other embodiments of traditional infusion pump, this delay can continue several hours or longer Time, this depends on pump and/or the type injecting liquid carried.Therefore, total error that starts of transfer rate deviation may The biggest.As illustrated by the example of Fig. 1, under the targeted delivery speed of 1mL/hr, there is 0.497mL error or close to 50% Conveying deficiency.Obviously, infusion pump is cured for clinic than when front pump faster and reaches target steady state level in the way of safer To be useful for life and patient.

Contribute to the significant factor of startup time to be responsible for passing the power (or other Power Generation Unit) from motor Deliver to drive system or the network of the mechanical part of fluid.Actuating device, clutch pack, linkage shaft coupling (linkage Coupling) and manufacture or build-up tolerance all introduce different amounts of interruption, " spilling " and " delayed ", its effect is anti-stop Power is by rapidly or be fully converted into fluid flowing.Especially for syringe type pump (syringe-type pump), start the time Another key factor relate to increasing to make every effort to overcome syringe when the plunger actuator of pump being applied to the power of syringe plunger The point of the opposing force intrinsic with relevant tubing and must be through when thus starting to generate the power by fluid therein The time crossed.Each syringe has " starting power (breakout force) ".This starting power be break or overcome syringe in Or relative to the stiction (" stiction ") of syringe and start outwards to pump the power needed for fluid from syringe.Logical Often, starting pump with the speed producing required stable state necessary, actual fed speed can be finally reached stable state.Therefore, to when starting Between above-mentioned contribution be considered or compensate.Accordingly, it is possible to cause the notable delay of startup time, described the most in FIG Those.

Traditionally, in order to these controlling the startup time postpone, clinician by usually need to be delivered to patient time Started or prepared pump before between and only guide the fluid from pump to enter waste canister or tank until pump starts significantly Pumping fluid.Such method is the most costly and time consuming, and patient causes danger, and patient may finally the most not receive To intended amount of infusion.

Control the startup time delay another example in because infusion pump the most reached stable state may not be always It will be evident that so clinician can check the vital sign of patient to determine when pump has started to pump fluid.But this The analysis of sample is significant adverse, because patient is used to determine that pump has reached stable state the most.Such way obviously causes trouble Person's safety issue, this pump may be programmed with incorrect speed, or unexpected medicine or infusion may be by by mistake Conveying.

In another example, some pumps stop plunger or the pump of syringe by brake or other shut-down mechanism physics Plunger actuator, until the power being applied on syringe plunger by pump that detects exceedes given running force.Detecting Power exceed time of running force, the plunger actuator of plunger or pump is released.Such embodiment is the most only possible to be caused defeated Liquid pump and the unwanted abrasion of syringe hardware and destruction, and once special component is released to result in and carried patient Amount.

Accordingly, it would be desirable to reach the infusion pump of targeted delivery speed or stable state in the shortest time, this minimize transfer rate with The deviation (and minimizing trueness error by reducing the area below the transfer rate aberration curve of Fig. 1) of targeted rate, And allow clinician quickly to start transport pump and without prepare pump, use brake, rely on patient vital sign data or Other are analyzed and thus permission clinician holding can manage and efficient workflow is put into practice and focused more on patient and protects Reason.

Summary of the invention

Described herein or it is also contemplated that embodiment generally meet the demand.The embodiment of starting algorithm is the shortest Time reaches targeted delivery speed or stable state and prepares pump without clinician, use brake or Dependent Patients vital sign number According to or other analyze.

In one embodiment, a kind of method driving infusion pump motor comprises: drive infusion pump motor with first rate；Really The flex point of the parameter surely sensed；And drive infusion pump motor with the second speed.

In one embodiment, infusion pump comprises: include at least one sensor and the pumping mechanism of pump motor；And joined The pump being set to control the operation of pumping mechanism controls subsystem, and this pump controls subsystem and includes processor, memorizer and startup Module, this startup module is configured to: with first rate drive pump motor, receive from least one sensor input and To drive pump motor with the second speed according to the input received from least one sensor.

In one embodiment, a kind of for driving the closed control circuit of infusion pump motor to comprise: proportional gain module (proportional gain module)；Storage gain module (integral gain module)；Differential gain module (derivative gain module)；Defeated for according to proportional gain module, storage gain module and differential gain module Out control the watch-dog of changeable input；And be configured to receive changeable input and infusion pump motor rotary speed and export The adder of pump motor drive command.

In the feature and advantage of embodiment, starting algorithm effectively removes the mechanical relaxation of the drive system from pump also And the time quantum increase generally shortened of time quantum only run under its expection speed with motor more typical than in conventional pumps puts Power on syringe plunger.

In the feature and advantage of embodiment, starting algorithm control motor order by allow arbitrarily complicated in the way of defeated Send, as assessment and conveying subsequently are carried out in the way of burst or stage.Therefore, based on random time point by overdue conveying The mode making complexity is easier to conveying.Additionally, embodiment changes motor control with making the software security implemented by starting algorithm System.

In the feature and advantage of embodiment, the crossing of fluid of patient is rushed (overshoot) or carried excessive minimum Change.Embodiment provides the transition from the relative smooth started to desired rate conveying.

Foregoing invention content is not intended to describe each embodiment described of present subject matter or each embodiment. The following drawings and detailed description of the invention these embodiments of more specifically illustration.

Accompanying drawing explanation

It is considered in conjunction with the accompanying the following specifically describes of each example embodiment and present subject matter can be more fully understood, attached In figure:

Fig. 1 is actual during the entry condition being depicted in traditional infusion pump and the flow velocity of deviation between targeted delivery speed Exemplary graph with the time.

Fig. 2 A is the perspective view of the example of the injector type infusion pump according to an embodiment.

Fig. 2 B is the example of the mobile model infusion pump (ambulatory type infusion pump) according to an embodiment Front view.

Fig. 3 is the block diagram of the infusion pump systems according to an embodiment.

Fig. 4 A is the schematic diagram of the force transducer curvature movement according to an embodiment.

Fig. 4 B is the perspective view of the force transducer parts according to an embodiment.

Fig. 5 is to describe the flow velocity of pump motor order by starting relative to the curve chart of time according to an embodiment.

Fig. 6 is to describe the flow velocity of time of the shortening to stable state conveying and the power curve relative to the time according to an embodiment Figure.

Fig. 7 is and pump motor speed and the power phase of motor rate algorithms to be described according to an embodiment during entry condition Curve chart for the time.

Fig. 8 is the flow chart of the motor rate algorithms according to an embodiment.

Fig. 9 is in the motor speed illustrated during the entry condition of state recognition starting algorithm and power phase according to an embodiment Annotated map for the time.

Figure 10 is according to an embodiment power, power speed and power during the entry condition for state recognition starting algorithm Acceleration is relative to the curve chart of time.

Figure 11 is the flow chart of the starting algorithm according to an embodiment.

Figure 12 A and 12B be according to an embodiment explanation according to the power starting the time minimized of the starting algorithm of Figure 11, Power speed and power acceleration are relative to the curve chart of time.

Figure 13 is the flow chart of the state recognition starting algorithm according to an embodiment.

Figure 14 is the flow chart of the state recognition starting algorithm according to an embodiment.

Figure 15 is for the schematic diagram of the control circuit of starting algorithm according to an embodiment.

Figure 16 is the flow chart of the operation of the starting algorithm of the control circuit for implementing Figure 15.

Although embodiment can be changed into various amendment and alternative form, but its details is the most by way of example at accompanying drawing Shown in and will be described in more detail.It is to be understood, however, that be not intended to be limited to present subject matter described Specific embodiment.On the contrary, it is intended to be to cover to fall according to the institute in the spirit and scope of the present subject matter of claims There are amendment, equivalent and substitute.

Detailed description of the invention

Fig. 2 A and 2B respectively illustrates infusion pump 10A and 10B (the most more by reference 10 Instruction) example, it can be used for implementing system as described herein and the embodiment of method.Generally, infusion pump 10A is to be used for carrying pharmacotherapy and the syringe type pump for the treatment of widely.Infusion pump 10A includes medicament reservoir or note Emitter 12, medicament reservoir or syringe 12 are supported on respectively on housing 14 and are fixed to housing 14 by clamping device 16. In an embodiment, syringe 12 individually can be supplied from pump 10A.In other embodiments, syringe 12 is the integral part of pump 10A Part.Syringe 12 includes forcing fluid via being connected to the tube for transfusion 20 of patient from the outside plunger 18 of syringe 12.Pump 10A's Motor and lead screw device within housing 14 coordinate actuating propeller or plunger driving mechanism 22 with mobile plunger 18.In embodiment In, sensor (the most schematically describe, and it is generally inside plunger driving mechanism 22) is monitored according to the system specification Power in syringe and/or plunger position.

Infusion pump 10B shown in Fig. 2 B is to be used for carrying the showing of mobile model pump of pharmacotherapy and treatment widely Example.Such mobile model pump can be not required to by being in bed user cosily wear or by belt, belt, clip or other Simple clamp device is otherwise removably attached to be in and is not required to the user of bed；And can also be by selectively There is provided in the device that the mobile model post in hospital and other medical facilities is installed.It is defeated that infusion pump 10B generally comprises crawling type Liquid pump mechanism, its medicine controlling the container (not shown in Fig. 2 B) from fluid is passed by the basal surface 24 along pump 10B The flowing of conduit.This fluid can be from being attached to the box type container of the bottom of pump 10B on surface 24, or carrys out comfortable table Face 24 is similarly coupled to the transfusion bag of pump 10B (IV bag) or other fluid source via adaptor plate (not shown).Specifically, Pump 10B use is positioned at the valve on basal surface 24 and exhaustor (expulsor) optionally extrudes and is connected to container or adaptation The pipe (not shown) of the fluid of device plate passes through pipe and to wriggle with the fluid realizing being supplied by container, IV bag or other fluid source Pumping mode arrives the motion of patient.The embodiment of the pump of Fig. 2 A and 2B provides the most by way of example, and is not intended to limit The scope of present subject matter processed.Other kinds of pump and the configuration of other pumps can be used in various embodiment.

With reference to Fig. 3, in one embodiment, infusion pump systems 100 comprise infusion pump 102 (the most above-mentioned infusion pump 10A and In 10B one).Alternatively, and as depicted in fig. 3, infusion pump 102 can be operatively connected to have and is configured Network or computer 104 for the software mutual with infusion pump 102.

In one embodiment, infusion pump 102 comprise generally pump control subsystem 106, pumping mechanism 108 and input/defeated Go out (I/O) port 110.Pump controls subsystem 106 and includes processor 112 and memorizer 114, and this memorizer 114 is programmed with choosing Fixed agreement, configuration file and for controlling pumping mechanism 108 such as said syringe and crawling type mechanism Other of operation are arranged.Pump controls subsystem 106 and comprises startup module 116 further.

Processor 112 can be accept numerical data as input, be configured to according to instruction or algorithm process input and And provide result as any suitable programmable device of output.In one embodiment, processor 112 can be configured as Perform the CPU (CPU) of the instruction of computer program.In other embodiments, processor 112 can be senior RISC (Jing Ke Cao Neng) machine (ARM) processor or other embedded microprocessors.In other embodiments, processor 112 comprise multiprocessor bunch.Therefore processor 112 is configured to perform at least basic selected arithmetic, logic and input/output Operation.

According to the needs of the processor 112 connected, memorizer 114 can comprise volatibility or nonvolatile memory with not Only provide and perform instruction or the space of algorithm, and the space of storage instruction itself is provided.In an embodiment, volatile memory Such as random access memory (RAM), dynamic random access memory (DRAM) or static RAM can be included (SRAM).In an embodiment, nonvolatile memory can include such as read only memory, flash memory, ferroelectric RAM, hard Dish, floppy disk, tape or disk storage.Aforementioned exemplary limits the type of the memorizer that can be used never in any form, because of Be given the most by way of example for these embodiments and be not intended to limit present subject matter.

Startup module 116 comprises algorithm or the instruction of the startup for infusion pump 102, as will be further described below. As depicted, start module 116 and can control subsystem 106 by utilizing processor 112 and memorizer 114 to be implemented as pump A part.In other embodiment (not shown), starting module 116 can be by controlling subsystem 106, processor with pump 112 and the separate processor of memorizer 114 and memorizer implement.

In an embodiment, pumping mechanism 108 comprises sensor 118 and motor 120 and is operably connected to one Or multiple interiorly or exteriorly container, IV bag or other fluid sources.

In one embodiment, sensor 118 is configured to monitoring force.Such as, in the above-described embodiments, wherein infusion pump 102 is syringe pump, such as, have infusion pump 10A of syringe 12, and syringe 12 includes that plunger 18, plunger 18 compel to pass the fluid through By from syringe 12 being outwards connected to the tube for transfusion 20 of patient, sensor 118 can be positioned in the mechanism 22 of infusion pump 102 and connect To measure by the power being applied on another at the point of the plunger 18 touching syringe 12.In an embodiment, sensor 118 Other position in or beyond mechanism 22 can be positioned in.Sensor 118 can comprise force transducer, pressure transducer, away from From sensor or other suitable sensor any.In other embodiments, pumping mechanism 108 comprises one or more additional biography Sensor 118.In an embodiment, the obturation in sensor 118 can also be used for determining syringe 12 and/or tube for transfusion 20.

With reference to Fig. 4 A and 4B, depict the embodiment of the force transducer 150 utilizing lever arm.In an embodiment, power sensing The shortage that device 150 can detect fluid flowing according to the power being applied on force transducer 150, fluid flows is (that is, owing to closing Plug) or other power or motion.Such as, in one embodiment, the thumb press of syringe plunger can be configured to against, Neighbouring or otherwise near force transducer 150, force transducer 150 is pivotable by post or pin 152 and drive mechanism 22 The mode connected is comprised in pump 10A.Although it is not illustrated, it should be understood, however, that in this example, the thumb of plunger is pressed Splenium is by the V-shaped groove 154 being oriented to reside in sensor 150.In the operation of pump 10A, when drive mechanism 22 applies to support During by the power of the thumb press of syringe, the power against force transducer 150 is correspondingly applied.It is intended that, less The corresponding small diameter of thumb press of diameter and thus the syringe of smaller size smaller will advantageously cause with thick stick The bigger power that the mode of bar senses at sensor 150, because such power is applied in away from post or pin 152 bigger The farther distance that the bigger thumb press of syringe will occur.Therefore, it is attributable to the less of less syringe Effective force can the same with the bigger power being attributable to bigger syringe reliably be sensed.Depending on of sensor 150 This variable pivot in the size of syringe thumb press can be detected and corresponding power is by such as electric capacity, pressure Electricity, resistance or other suitable effect parts sense.Generally, as being WO2013/ at disclosed PCT Publication 177379, described in application entitled " inaccessible detection ", such force sensor system can be utilized.

Referring again to Fig. 3, motor 120 be configured to drive fluid from one or more interiorly or exteriorly containers, IV bag or Other fluid source is to patient.Such as, in the above-described embodiments, the motor 120 within housing 14 and the lead screw device of pump 10A coordinates Activate propeller or plunger driving mechanism 22, with mobile plunger 18.Therefore, motor 120 can comprise any suitable driving machine Structure.

Infusion pump 102 may further include and is configured to hand over infusion pump 102 for being connected to have by infusion pump 102 The network of mutual software or USB (universal serial bus) (USB) port of computer 104, wave point or other suitable inputs/defeated Go out (I/O) interface port 110.In an embodiment, network or computer 104 can transmit for pump control via interface port 110 Subsystem 106 and particularly start the software of renewal or the algorithm of module 116.To the electric power of infusion pump 102 via exchange Power line and/or the internal battery provided realize.

In an embodiment, the information that startup module 116 is configured to, with being provided by sensor 118 is come with notice, sharp That live and the most real-time mode governor motor 120 speed, this is obviously improved the performance of infusion pump 102.

Such as, with reference to Fig. 5, depict generally the flow velocity of embodiment for the motor order by starting relative to time Between the example of curve chart.Time describes along x-axis description and the flow velocity in units of mL/hr along y-axis.Starting 200, flow velocity exists Time 0 starts.As depicted, flow velocity starts with the speed more than 0, because starting the embodiment of motor order 202, as following Will be described with.In an embodiment, the embodiment starting motor order 202 can send or once after pump is energized immediately Such for acceptance order is sent by hardware and software the most immediately.Therefore, as depicted, start motor order 202 to open whole It is run during Dong until closing trigger point 204.In an embodiment, from starting motor order 202 to closedown trigger point 204 Transformation can be the most stepped, arc, sinusoidal pattern, minimizing, the function of power, the function of power speed, power acceleration Function or combination multiple triggers.Closing trigger point 204, starting motor order 202 and be rejected or terminate.Implementing In example, provide " stopping " or " closedown " order.In other embodiments, order 202 in or with order opening of 202 compounding practices Dynamic algorithm (is such as provided by sensor 118 due to the one or more measured values between the pump 102 in such as Fig. 3 and mechanism 108 Those) and exit or terminate.In other embodiments, starting algorithm due to algorithm normally exit or end condition and exit Or terminate.In the conveying 206 of programming, pump starts the conveying typically programmed according to pump agreement.Terminating 208, pump exits or whole Only its conveying typically programmed.Therefore, generally, as it is shown in figure 5, the startup order to pump motor is introduced into, and Subsequently, flowing is transformed into the conveying of programming of order at trigger point.

With reference to Fig. 6, depict the motor order by starting such as, the horse by starting algorithm illustrated by Fig. 5 Reach the result of the enforcement of the embodiment of order.The result of Fig. 6 is contrary with the problem illustrated by Fig. 1.In other words, illustrate to work as Implement during the embodiment of starting algorithm flow velocity and plunger force according to the inventive subject matter relative to the current curve of time.Time is along x Axle is described.Flow velocity in units of mL/hr is described along y-axis, and power is described along relative y-axis.

The speed 300 of order comprises to be described by the linear velocity of the motor rotary speed of starting algorithm order.The speed 302 recorded Comprise the linear velocity recorded.Momentary rate 304 comprises the instantaneous linear speed of the fluid mass of actual fed.Plunger force 306 Comprise the power by such as sensor 118 records.According to the embodiment by the motor order of starting algorithm, until record (linearly) speed 302 reaches the stable state elapsed time of each of which when compared with the elapsed time of Fig. 1 with momentary rate 304 Time be greatly diminished.Similarly, when compared with such as Fig. 1, top error 308 and bottom error 310 are minimized.Show Plunger force 306, and from making an appointment=0 minute to making an appointment=transformation of the power increased generally of 4 minutes, and the most extremely The most constant power.In the embodiment of starting algorithm according to the inventive subject matter, boot sequence is in time=0 minute It is entered and exits when making an appointment when reaching stable state and pump is transformed into the conveying of programming=4 minutes generally or eventually Only.But, it should being appreciated and understood by, the steady state time of about 4 minutes described in the example of Fig. 6 will be according to special parameter Change with the characteristic of specific embodiment.It is therefoie, for example, use relatively large volume of relatively large syringe to cause Reach the corresponding more time of stable state.As described, in the embodiment of motor order starting algorithm, when with pass being used for When deviation between actual and targeted delivery speed is compared during the entry condition of system infusion pump, start error and be cut in 8 times, from 0.497mL to 0.067mL.In an embodiment, according to application program, hardware and starting algorithm and other factors, start error Can be reduced than example depicted in figure 6 or cut down more or less.

Motor speed starting algorithm

With reference to Fig. 7, an embodiment according to the inventive subject matter and in the example utilizing syringe pump, depict motor The schematic diagram of speed starting algorithm.Time describes along x-axis, and motor speed and stopper head power are described along y-axis.Targeted delivery speed Motor speed needed for rate 400 is illustrated as less constant horizontal line.In an embodiment, needed for targeted delivery speed 400 Motor speed is speed of steady state, and under this speed of steady state, programming conveying is desired.

As depicted in figure 7, the motor speed 402 and the stopper head force transducer state 404 that rely on power are to be mutually related. In an embodiment, rely on motor speed 406 that the motor speed 402 of power is initially arranged to accelerate (in an embodiment, according to The power sensed, as described by stopper head force transducer state 404, and as will be described).In an embodiment, just The motor speed 406 beginning to accelerate can be any suitable speed according to the particular pump hardware used.During this stage, Stopper head power is negligible.This time period of the motor speed 406 accelerated removes the machinery pine of the drive system from pump If relaxed and under its expection speed (such as, targeted delivery speed 400), only running the notable time quantum shortened than motor Increase the power being placed on syringe plunger.Produce what the distinctive fluid delivery rate deliberately of pediatric nursing may need when using Slowly during speed maybe when relating to highly effective medicine, the time of this shortening is the most obvious.In an embodiment, example As, during the time period of the motor speed 406 accelerated, the infusion pump of the plunger actuation of pump 10A, motor (such as, motor 120) Therefore the power making pump plunger (such as, plunger 18) advance up to be applied on plunger with the speed accelerated reaches to overcome contrary power Size needed for (such as, inertia, stiction, back pressure).In one embodiment, then the motor speed 402 relying on power change The speed being suitable in intended fluid delivery rate in pairs, as by change that motor speed described according to power 408 (its Reduce, and be described below).In the time that pump changes to stable state 412 from entry condition, motor speed is from the power of dependence Rate transition becomes speed of steady state 410.

About stopper head power, embodiment can include the power sensed by the sensor 118 in Fig. 3.Stopper head power senses Device state 404 initially can be ignored, as by the stopper head power being labeled as " owing to systematic relaxation is removed negligible power 414 " Shown in sensor states 404 sections.During pump startup, exist due to mechanism 22 contact plunger 18 in such as Fig. 2 A at 416 The power increased.The power of this increase is inevitable to change motor speed according to power 408 relevant, as mentioned above and as shown in Figure 7.At pump The time changed to stable state 412 from entry condition, cut-off power 418 is examined by sensor (such as, the sensor 118 in Fig. 3) Survey, be sensed or otherwise determined.Subsequently, as described by the motor speed 402 about the power of dependence, motor speed is from dependence The rate transition of power becomes speed of steady state 410.Similarly, stopper head force transducer state 404 is transformed into the power that sense of stability measures.? In embodiment, then sensor 118 can be used for the conveying of ongoing stable state programming at the end of starting algorithm order Function, such as inaccessible sensing.

For example, referring to Fig. 8, illustrate the flow chart of the embodiment of motor speed starting algorithm 500.Such as with reference to Fig. 3, The embodiment of motor speed starting algorithm 500 can be by as controlled by such as pump control subsystem 106 and startup module 116 Pumping mechanism 108 is implemented.

502, drive pump motor with the speed accelerated.At decision-point 504, determine that the power sensed by sensor 118 is No increase.If the power sensed does not increases, then continue to drive motor 120 502 with the speed accelerated.If sentenced Fixed point 504 determines that the power sensed increases, then be transformed into conversion rates at 506 motors 120.In an embodiment, owing to being Lax the removing of system contacts syringe plunger with plunger driving mechanism, and conversion rates can be relatively low speed.In an embodiment, 506, drive motor 120, the conversion rates 408 that conversion rates is similar in Fig. 7 with conversion rates.At decision-point 508, determine The power sensed by sensor 118 has reached cut-off power the most.If the power sensed is not reaching to cut-off power, then continue to turn Variable Rate drives motor 120.If the power sensed at decision-point 508 has reached cut-off power, then move at 510 motors 120 Speed of steady state.

In an embodiment, sensor 118 power sensed is provided continuously or substantially real time to such as pumping machine Structure 108 is to control motor 120 changeably.Therefore, it is determined that point 504 and 508 can not be implemented as discrete decision-point, but The threshold value that will be reached.Those skilled in the art artisan will readily appreciate that the probability for implementing motor speed starting algorithm 500.By The example that Fig. 7 provides is intended to the embodiment illustrating to provide the most by way of example and the model being not intended to limit present subject matter Enclose.

State recognition starting algorithm

In one embodiment, pump startup algorithm is configured to identify multiple starting state.By utilizing various pumping spy Property such as actual fed speed, expection transfer rate and force transducer state and the dependency between other, can To identify starting state.Pump motor can control according to current state.In an embodiment, for the determination of motor control, also Can consider and include known to-be.In an embodiment, for the determination of motor control, it is also possible to consider and included Go state.

With reference to Fig. 9, according to an embodiment, depict actual fed speed, expection transfer rate and force transducer state it Between the note figure of dependency.By minute in units of time along x-axis describe.Flow velocity in units of mL/hr is retouched along a y-axis Paint, and power is described along relative y-axis.Additionally, each starts section or state and corresponding parameter along x-axis identification.1mL/hr's Targeted delivery speed 600 is depicted as the horizontal line across Fig. 9.Targeted delivery speed 600 is speed of steady state, in this stable state speed Rate, conveying is desired.The linear velocity 602 of ram travel, actual fed speed 604, stopper head power 610, stopper head power speed The curve of degree 606 and stopper head power acceleration 608 is also depicted, and further described below.Draw as run through presents , term " stopper head power " refers to be applied to the power on plunger 18 by such as plunger driving mechanism 22, and can pass through Such as sensor 118 senses and measures.As Fig. 9 describes, the linear velocity 602 of ram travel is according to syringe Cross section scales up the explanation more meaningful with offer, is not pro rata.

With reference to table 1 below, in the example of the syringe pump embodiment of present subject matter, each in each starting state Individual have the distinctive one group of parameter value of each state.In one embodiment, this group parameter is { D ', F, F ', F " }, and wherein D ' is capable The linear velocity of journey, F is stopper head power, and F ' is stopper head power speed, and F " it is stopper head power acceleration.In other embodiments In, according to application-specific and startup target, other adds or less parameter is utilized.The example embodiment of table 1 below In, according to the value (including that plus or minus indicates) of the parameter relative to 0, determine each state.In an embodiment, each state is not only By the group of the parameter value relative to 0 and may alternatively or additionally can determine according to other threshold value.Implement at other In example, according to each embodiment and operator scheme, can limit and utilize additional or less starting state.

Table 1-state recognition starting algorithm state, description and parameter

In state 1, pump is in " internal lax " state, D ', F, F ' and F " it is 0.Pump motor or plunger do not move.? In the embodiment of state 1, such as back clearance, gear clearance, thread tolerance, actuating device, clutch pack, linkage shaft coupling and/ Or manufacture or build-up tolerance all exist and are not yet removed or exceed so that plunger moves.In an embodiment, the length of state 1 Or the persistent period is to rely on pump, because the unique property of pump affects the ability that plunger moves.

In state 2, pump is in " outside lax " state.D ' is more than 0, shows that the inside of state 1 is lax and is removed.One In embodiment, linear potentiometer monitored can make pump (such as, pump controls subsystem 106) may determine that when potentiometer leaves Beginning change value.According to embodiment, it would be recognized by those skilled in the art that " monitoring " can also be by linear position and/or speed The measurement of degree.In other embodiments, it is possible to implement utilize the system of the value derived.For example, it is possible to omission linear transducer, and And replace with sending out signals, the linear value e.g. calculated according to the tropometer of motor.In an embodiment, rotation can be passed through Rotary-type sensor and encoder (closed loop) or by coming with the stepper motor (not having encoder) run under open loop mode Monitoring.In the embodiment of state 2, plunger driving mechanism not yet contacts syringe plunger.As a result of which it is, F, F ' and F " all keep It is 0.In an embodiment, the length of state 2 or persistent period are to rely on operator, because the linear velocity of the stroke of plunger can To be determined by operator.

In state 3, pump is in " beginning prestrain " state.Derivative F ' that D ', F are relevant with power and F " both greater than 0.In state In the embodiment of 3, plunger driving mechanism contact syringe plunger.In an embodiment, length or the persistent period of state 3 is to rely on Pump and dependence both operators.

In state 4, pump is in " prestrain " state.D ', F and F ' are remained above 0.But, F " equal to 0, because not having More stopper head power 610 acceleration, and plunger gathers way with constant rate of speed on the contrary.In the embodiment of state 4, plunger Drive mechanism applies power to syringe plunger.

In state 5, in plunger experience syringe or relative to the stiction of syringe or " stiction ".D ', F and F ' All it is remained above 0.But, power acceleration F " it is negative.In the embodiment of state 5, obtained negative acceleration is due to by post Plug drive mechanism applies with the power overcoming above-mentioned stiction.

In state 6, pump is in " moving " state.D ' and F is remained above 0.F " remain negative.But, F ' is non-zero.? In the embodiment of state 6, exceed and overcome the power of stiction needs and syringe plunger to move forward.In state 6 Power is so big to such an extent as to overcomes stiction and is transformed into plunger motion, but then moves pump due to plunger as required and start Carry and decline.The newton first law of motion shows, static object will keep static, unless External Force Acting is in it, and with The object of constant speed movement will keep with linear motion, unless External Force Acting is in it.Therefore, the maximum needed for object is moved Power occur in the point that is first begin to of motion.In an embodiment, this point is state 6.

In state 7, pump is in " stable state " state.In the embodiment of state 7, system has reached balance.D ' and F is both greater than 0；But F ' and F " it is equal to 0.In an embodiment, " make an uproar due to caused by such as surface roughness or inconsistent lubricity etc. Sound " or the level of external disturbance, F ' and/or F " it is substantially equal to 0.At this point, pump has been changed by its starting algorithm and Pumping according to speed of steady state, at this speed of steady state, the conveying of programming is desired.

In another embodiment, whole boot sequence can be moved up a state effectively.Such as, time 0 Can be that current potential is calculated as positive point, be indicated above pump and have been turned on.Therefore state 1 can be eliminated, as pump startup algorithm can be Determine that current potential is instantiated or initialized embodiment after being just calculated as (and pump startup).Other embodiments at starting algorithm In, the method can be programmed to wait until before proceeding to other states and reached positive potential enumeration.Boot sequence because of This can be shortened further and be made more efficient.

In an embodiment, the starting algorithm according to presently disclosed subject matter can be under any status condition or arbitrarily Stop or reducing the speed of pump motor or plunger motion in the range of status condition.In one embodiment, pump motor or post " are stopped " The rate packets of the plug motion amplifying speed rate containing stop motion is not so that plunger further accelerates.Such as, turning off trigger point can be at shape State 4, when pump is in " prestrain " state.In another embodiment, turning off trigger point can be in state 5, when plunger warp Go through in syringe or during relative to the stiction of syringe or " stiction ".In another embodiment, trigger point is turned off Can be in state 6, when pump is in " moving " state.It practice, referring again to Fig. 9, according to its in status condition each Parameter, feedback based on the stopper head power 610 recorded and/or the stopper head power speed 606 of derivation and stopper head power acceleration 608 Value regulate targeted delivery speed 600.

With reference to Figure 10, illustrate the example boot sequence of the force curve for pump.Time in seconds retouches along x-axis Paint.Describe along a y-axis with the pound (Ibs) power as unit, and speed is described along relative y-axis with acceleration.Figure 10's In example, the start up curve of the injector system of 20mL/hr, 60 milliliters (cc) is described.Power speed 702 is by Δ F/ Δ t (power The change of 700 is than the change of time) obtain, and power acceleration 704 uses Δ F '/Δ t, and (time is compared in the change of power speed 702 Change) calculate.It is pointed out that for comparison purpose, the size of power acceleration 704 is exaggerated 30 times to allow it to be set to In on the axle identical with power speed 702.

As it can be seen, by the single order and second dervative, Δ F/ Δ t and Δ the F '/Δ t that draw power 700 respectively, it can be seen that Important transformation in power or flex point.The flex point in peak display power 700 in power speed 702, wherein power 700 is increasing and is reducing Change between speed.In an embodiment, starting algorithm can utilize power speed 702 or the one or more of power acceleration 704 to turn Point as change motor rotary speed instruction in case minimize or the most even prevent 708 conveying cross punching.Embodiment is therefore Cause quickly starting, with required transfer rate smooth transition to stable state.

In the embodiment of starting algorithm, in the appropriate case, according to selected by speed or acceleration or a combination thereof After flex point, order reduces motor rotary speed.Such as, if the first peak 706 of power speed 702 is selected as starting to reduce speed Point, then then motor rotary speed elapses over time according to the absolute value of speed and reduces.In another embodiment, for motor The switching point that triggers driven can be the negative point at power acceleration 704.In this example, triggering switching point will be power acceleration The flex point 710 of 704.

With reference to Figure 11, illustrate the flow chart of the embodiment of starting algorithm 800.Such as also with reference to Fig. 3, starting algorithm 800 Embodiment by such as being controlled subsystem 106 by pump and the pumping mechanism 108 that module 116 controls can be started implement.

802, drive infusion pump motor, such as, motor 120 with first rate.In an embodiment, first rate can be The speed accelerated；Such as, discussed about Fig. 8.

804, determine the flex point of the characteristic of pump motor.In an embodiment, as above with respect to described by Figure 10, pump motor Characteristic can be power speed 702.In another embodiment, the characteristic of pump motor can be power acceleration 704.Real at other Execute in example, it is possible to use other characteristics of pump motor, the linear velocity of such as ram travel.

806, drive infusion pump motor with the second speed.In an embodiment, the second speed can be slower than first rate Speed, or be different from the conversion rates of first rate.

Alternatively, 808, infusion pump motor can be driven with third speed.In one embodiment, third speed is stable state Speed, under this speed of steady state, the conveying of programming is desired.In embodiment (not shown in Figure 11), can be determined by The flex point of the characteristic of pump motor or other values carry out driving pump motor with third speed 808.In an embodiment, the characteristic of pump motor Can be the characteristic identical with in 804 characteristics evaluated.In other embodiments, the characteristic of pump motor can be to comment with 804 The characteristic that the characteristic of valency is different.

With reference to Figure 12 A and 12B, it is shown that implement starting algorithm such as, the curve of the result of starting algorithm 800 Figure.The data explanation of graphical representation changes from 20mL/hr when power acceleration flex point is selected as the motor control point changed To 1mL/hr.As described, there are minimal overshoot or excess conveying, and pump reached stable state at 300 seconds.

With reference to Figure 13, and referring again to Fig. 9, illustrate the flow chart of the embodiment of state recognition starting algorithm 1000.Example As with reference to Fig. 3, the embodiment of starting algorithm 1000 can be by as controlled subsystem 106 by such as pump and starting module 116 The pumping mechanism 108 controlled is implemented.

Can be with boot sequence utilization state identification starting algorithm 1000 complicated or the most after tested.The reality of algorithm 1000 Execute example and be provided about the secure border of boot sequence.Such as, algorithm 1000 is by determining each shape according to known boundary condition State is provided about the wrapper starting order given.

Such as, 1002, enter unknown state.Owing to implementing startup complicated or the most after tested as mentioned Sequentially, so state can be unknown.In an embodiment, state can be unknown because software or hardware error, its Algorithm effectively " is terminated (drop) " at any of degree the unknown that boot sequence has been in progress.In other words, algorithm does not close The record of the step performed in this algorithm or data.Such as, according only to the time know boot sequence be whether state 1, Any state between state 7 or state 1 and 7 is impossible.Therefore, there is currently at first understanding boot sequence Point in the case of, faster, slower, (or the most even with identical speed) drive motor to be probably problematic Or the most dangerous.

1004, determine unknown state according to known boundary condition.Boundary condition can be by such as such as Figure 10-11 institute Show and/or as determined about the determination of the flex point described by Fig. 9 and Biao 1.

1006, algorithm 1000 allows boot sequence to be transformed into succeeding state.As depicted, if succeeding state the most not Know, then algorithm 1000 recursively returns to 1002.Follow-up unknown state then can be 1004 according to the boundary condition of this state Determine.In other embodiments, to-be can the most known and sign.In such embodiments, algorithm 1000 May proceed to known state.Therefore, the embodiment of method disclosed herein makes by starting the software implemented of module 116 more Change motor control safely.

With reference to Figure 14 and referring again to Fig. 9, illustrate the flow chart of the embodiment of state recognition starting algorithm 1100.Such as With with reference to Fig. 3, the embodiment of starting algorithm 1100 can be by as controlled with starting module 116 by such as pump control subsystem 106 The pumping mechanism 108 of system is implemented.

Starting algorithm 1100 starts by entering internal relaxed state 1102.Starting algorithm 1100 is maintained at internal lax State 1102 is until reaching one or more boundary condition 1103.If reaching one or more boundary condition 1103, then start Algorithm 1100 exits internal relaxed state 1102 and enters outside relaxed state 1104.

Starting algorithm 1100 is maintained at outside relaxed state 1104 until reaching one or more boundary condition 1105.If Reach one or more boundary condition 1105, then starting algorithm 1100 exits outside relaxed state 1104 and enters beginning pre-add Load state 1106.

Starting algorithm 1100 is maintained at beginning preload condition 1106 until reaching one or more boundary condition 1107.As Fruit reaches one or more boundary condition 1107, then starting algorithm 1100 exits beginning preload condition 1106 and enters pre-add Load state 1108.

Starting algorithm 1100 is maintained at preload condition 1108 until reaching one or more boundary condition 1109.If reached To one or more boundary conditions 1109, then starting algorithm 1100 exits preload condition 1108 and enters stiction state 1110。

Starting algorithm 1100 is maintained at stiction state 1110 until reaching one or more boundary condition 1111.If Reach one or more boundary condition 1111, then starting algorithm 1100 exits stiction state 1110 and enters kinestate 1112。

Starting algorithm 1100 is maintained at kinestate 1112 until reaching one or more boundary condition 1113.If reached One or more boundary conditions 1113, then starting algorithm 1100 exits kinestate 1112 and enters stable state 1114.

Boundary condition 1103,1105,1107,1109,1111 and 1113 can be by such as illustrated by Figure 10-11 And/or as determined about the determination of the flex point described by Fig. 9 and Biao 1.

PID-F starting algorithm

In one embodiment, pump startup algorithm can be implemented by PID-F algorithm and control circuit.Term " PID-F " is Refer to include the control circuit of following component: be equal to " ratio " component that the stabilizing mechanical system of output is relevant with input；With mistake Relevant " integrator " component；" differential " component relevant with speed change；And with predictable, repeatably and short lasting " feedforward " component that time-event is relevant.

With reference to Figure 15, depict the schematic diagram of the PID-F control circuit 1200 for starting algorithm.Control circuit 1200 is wrapped Containing controlling circuit feedback controller.Generally, control circuit 1200 calculates as measuring process variable and required set point Between " error " value of difference.Control circuit 1200 makes this error minimize by regulation process control input.Generally, control Circuit 1200 initially can drive motor with two-forty, and then reduces motor driving according to control circuit feedback controller Speed.Effectively, then, control circuit 1200 drives speed for optionally reducing motor.

Control circuit can such as at pump 102 and be implemented on processor 112 and/or memorizer 114 especially.Ability Field technique personnel will be appreciated by, and starts module 116 and can also include the parts of control circuit and relevant treatment.In an embodiment In, control output and comprise two orders.First order is in feedforward (" F ", in " the PID-F ") path 1221 that will describe User's motor drive rate command.Second order is that closed loop power based on PID controls.In an embodiment, it is used for changing motor The triggering switching point controlling to drive speed is based on closed-loop error.

According to an embodiment, the input to control circuit 1200 comprises the pump rate of motor rotary speed or user command.? In embodiment, injector type is another kind of input, and this is to be utilized, as will be descr by look-up table 1201.? In another embodiment, intervalometer 1223 input be so-called " regulator (watchdog) ", its limit perform control time The area of a room and if it exceeds time then stopping process.According to an embodiment, motor rotary speed is to be exported by output control circuit 1200 's.In an embodiment, motor rotary speed output is the motor rotary speed run under particular delivery speed.

In one embodiment, table 1201 comprises look-up table.In one embodiment, motor rotary speed and injector type are to table The input of 1201.Certainly, embodiment according to the inventive subject matter, other input is possible.Table 1201 can be by power order F_ Cmd 1210 output is to PID closed loop control.In one embodiment, F_cmd 1210 is the letter of motor rotary speed and injector type Number.

First adder 1203 produces rub-out signal.In one embodiment, mistake (error) passes through Error=F_cmd F_process calculates.As will be described, F_process is the output from H_process 1217.

P gain 1209 comprises proportional gain.From mistake output (error output) of first adder 1203, F_ Error, is imported into P gain 1209.In one embodiment, the function of P gain (P Gain) 1209 is: P_out=P_gain* F_error。

I gain 1211 comprises storage gain.In one embodiment, I gain 1211 stores wrong operation summation and is multiplied by I increasing Benefit.Typical purposes is to drive to control, with the input of coupling order, to make F_error=0.In one embodiment, I gain 1211 Output is calculated by following formula: I_out=(I_gain*F_error) * sampling period+I_out_last；I_out_last=I_ out。

D gain 1213 comprises the differential gain.In one embodiment, the process of D gain 1213 is: D_out=(F_error F_error_last)/sampling period.

Second adder 1205 combines P gain 1209, the output of I gain 1211 and D gain 1213.In one embodiment, The output provided by second adder 1205 is calculated by following formula: the output of second adder 1205=P gain output+I increases Benefit output D gain output.

The limit 1215 is driven to limit PID contribution output contribution.In an embodiment, it provides high-caliber what is called " to clamp " effect Should.

3rd adder 1207 combines to drive the limit 1215 signal and feed-forward signal and export motor according to following formula and drives 1222: output=motor rotary speed input+PID_out.Therefore, feed-forward signal provides motor rotary speed as to control circuit 1200 The input of the 3rd adder 1207.

Selectively, ON/1220 is for including or stop P gain 1209, I gain 1211 and D gain 1213 Closed loop PID, when being blocked, feedforward is the exclusive signal entering motor.

H_process 1217 comprises pump power.According to an embodiment, H_process 1217 receives motor and drives 1222 as input, and power output sensing data (F_Process).

In one embodiment, watch-dog 1219 comprises control algolithm.In one embodiment, watch-dog 1219 monitors control strip Part, and determine when to stop PID via ON/1220.In an embodiment, such as, as shown in figure 15, intervalometer 1223, injector type 1225 and F_error 1227 can be imported into watch-dog 1219 to determine switch 1220 conditions.? In another embodiment, only intervalometer 1223 is imported into watch-dog 1219.In one embodiment, intervalometer 1223 is supervisor Structure, it limits the execution time quantum of control algolithm, if more than time restriction and then stops algorithm.In another embodiment, Only injector type 1225 is the input to watch-dog 1219.In an embodiment, injector type 1225 or syringe distance are (not Illustrate) one or more measured values can be imported into watch-dog 1219.In another embodiment, only F_error 1227 It is imported into watch-dog 1219 to determine switch 1220 conditions.In other embodiments, combination above-mentioned input or other input The device 1219 that can be monitored uses.

Referring also to Figure 16, depict the stream of operation that the PID-F for implementing Figure 15 controls the starting algorithm 1300 of 1200 Cheng Tu.For the ease of the narration between the two accompanying drawing, the component labelling of control 1200 reflects in figure 16.

Starting algorithm 1300 starts from starting 1202.1204, motor rotary speed is the input to control circuit 1200.? 1206, control to determine that switch is arranged.1208, if motor rotary speed is equal to or more than set-point such as, V_pifOr use In the normal minimum motor speed started, then starting algorithm 1300 proceed to stop 1222 (because in such a situa-tion, it is not necessary to Starting algorithm quickly starts pump), less than this minimum motor speed, starting algorithm is activated.But, if at 1208 motor rotary speeds Less than set-point (in an embodiment, V_pif), then arranging F_cmd 1210 (because in such a situa-tion, needs starting algorithm Quickly start pump).As described, F_cmd 1210 can enter through look-up table according to motor rotary speed and injector type Value is arranged.

1212, according to the output switching PID on/off 1220 from watch-dog 1219.1214, check the mistake calculated The absolute value of difference and the relation of window.If the absolute value of the error calculated equals to or more than window, then check persistent period t Relation with time-out (timeout).If persistent period t is less than or equal to time-out, then starting algorithm 1300 recursively proceeds to PID exports 1220 and is subsequently returned to 1214, determines the absolute value of error and the relation of window.If the persistent period, t was more than Time-out, then close (or stop) PID at 1218 starting algorithms 1300.Refer again to 1214, if the error calculated is absolute Value less than window, then closes (or stop) PID at 1218 starting algorithms 1300.Stopping 1222, starting algorithm 1300 terminates.

Embodiment such as with reference to Fig. 3, PID-F starting algorithm 1300 can be by as controlled subsystem by such as pump 106 implement with the pumping mechanism 108 starting module 116 control.

Combination starting algorithm

In an embodiment, pump startup algorithm can comprise motor speed starting algorithm, state recognition starting algorithm and/or The aspect of PID-F starting algorithm combination.Such as, the watch-dog of the embodiment of PID-F starting algorithm may determine that along starting suitable The current location of sequence, such as any one in the state of 7 shown in Fig. 9 of the embodiment of state recognition starting algorithm.? In embodiment, then, pumping system includes that the combination of software and hardware is to reach targeted delivery speed or stable state in the shortest time.This Skilled person artisan will readily appreciate that, the starting algorithm according to presently disclosed subject matter can be on any status condition limit Boundary or by motor speed starting algorithm the most alone or in combination, state recognition starting algorithm and/or PID-F starting algorithm know Stop or reducing the speed of pump motor or plunger motion in the range of other status condition, section or any one in the stage.

The sign of starting power

In an embodiment, starting algorithm can utilize the data base of syringe starting power of above-mentioned sign.Such as, reference Fig. 3, network/PC 104 can be via I/O port 110 for providing the access of the data base to starting power to pump 102.In embodiment In, memorizer 114 can also store the data of starting power.

As it has been described above, each pump has the actuating device of uniqueness, clutch pack, linkage shaft coupling and manufactures or dress Join tolerance, the different amounts of interruption of all these introducings, this and then suppression or stop power by immediately or be completely converted into fluid stream Dynamic.Determination by certain injector and the progress of the determination of its specific starting power, each starting state and each of which can To be further limited and to characterize.Therefore, boot sequence progress can more easily be changed.In an embodiment, specifically rise Power is stored by such as table 1201.In an embodiment, table 1201 can not only comprise single table, and comprises multiple table. In an embodiment, table 1201 can comprise affects pump startup and reaches parameter or the data of stable state.Such as table can be stored in Other parameters in 1201 or multiple tables are life-spans (new pump, old pump, use hourage etc.) of pump, pick up calibration, pipeline-like Type (material, coefficient of friction etc.), pipe diameter, duct length, pin size and the viscosity of injected material and other.This area Technical staff will readily appreciate that, the parameter of any amendment can use in table 1201.

There have been described herein the various embodiments of system, apparatus and method.These embodiments are the most by way of example Provide and be not intended to limit the scope of present subject matter.Further, it should be appreciated that, the various spies of the embodiment having been described above Levy and can be combined to produce countless additional embodiment in every way.Although additionally, different materials, size, shape, structure and Positions etc. have been described for the disclosed embodiments, but be in addition to beyond disclosed those other can by with the present invention The scope of theme proportionately uses.

Those of ordinary skill in the related art it will be appreciated that, present subject matter can comprise than any of the above described indivedual realities Execute the feature that the feature shown in example is less.Embodiment described herein is not meant to be the various features of present subject matter Can be by the detailed displaying in the way of being combined.Therefore, embodiment is not the mutually exclusive combination of feature；More precisely, this Subject matter can comprise the combination of the different individual characteristics selected from different separate embodiment, skill as common in this area As art personnel are understood.

It is constrained to the master so that contrary with clear and definite disclosure herein by any being incorporated to quoted of above-mentioned file Topic is not merged in.By above-mentioned file quote any be incorporated to be further restricted into make to include that right hereof is wanted Ask and be not incorporated to by quoting of this paper.By above-mentioned file quote any be incorporated to be further restricted into make at file Any definition of middle offer is not incorporated to, unless be explicitly included herein by quoting of this paper.

In order to explain the purpose of the claim of present subject matter, it is expressly intended that United States Code No. 35 compiles (35U.S.C.) Article six, the regulation of part 112 should not be cited, unless illustrate in the claims specific term " be used for ... device " or " be used for ... step ".

Claims

1. the method driving infusion pump motor, described method comprises:

Described infusion pump motor is driven with first rate；

Determine the flex point of the parameter sensed；And

Described infusion pump motor is driven with the second speed.

The method of driving infusion pump motor the most according to claim 1, the wherein said parameter sensed is infusion pump horse Reach plunger actuation power.

The method of driving infusion pump motor the most according to claim 1, wherein determines that flex point comprises further and draws at least One parameter.

The method of driving infusion pump motor the most according to claim 3, the wherein said parameter drawn is power speed or power At least one in acceleration.

The method of driving infusion pump motor the most according to claim 1, comprises further and drives described defeated with third speed Liquid pump motor.

The method of driving infusion pump motor the most according to claim 1, wherein said first rate is more than described second speed Rate.

The method of driving infusion pump motor the most according to claim 6, wherein said second speed is stepped or arc Shape.

The method of driving infusion pump motor the most according to claim 3, wherein said first rate is more than described second speed Rate and described second speed are more than described third speed.

The method of driving infusion pump motor the most according to claim 1, comprises sign starting power further.

10. an infusion pump, comprises:

Pumping mechanism, described pumping mechanism includes at least one sensor and pump motor；And

Pump controls subsystem, and described pump controls subsystem and is configured to control the operation of described pumping mechanism, and described pump controls son System includes:

Processor,

Memorizer, and

Starting module, described startup module is configured to:

Described pump motor is driven with first rate,

Receive the input from least one sensor described, and

To drive described pump motor with the second speed according to the described input received from least one sensor described.

11. infusion pump according to claim 10, wherein said pumping mechanism comprises the plunger including syringe driver Pumping system.

12. infusion pump according to claim 10, wherein said startup module is further configured to receive from described At least one sensor second input and according to receive from least one sensor described described second input come with Third speed drives described pump motor.

13. infusion pump according to claim 10, at least one sensor wherein said is force transducer.

14. infusion pump according to claim 10, wherein said startup module be further configured to according to from described to The described input that a few sensor receives to draw at least one parameter, wherein said pump motor at least based on described at least One parameter drawn to drive with described second speed.

15. infusion pump according to claim 14, at least one sensor wherein said is current sensor.

16. infusion pump according to claim 10, wherein said startup module be further configured to according to from described to The described input that a few sensor receives is to determine boundary condition.

17. infusion pump according to claim 16, wherein said boundary condition determines and connects from least one sensor described The flex point of the data that the described input received draws.

18. 1 kinds of closed control circuits being used for driving infusion pump motor, described closed control circuit comprises:

Proportional gain module；

Storage gain module；

Differential gain module；

Watch-dog, described watch-dog is for according to described proportional gain module, described storage gain module and the described differential gain The output of module controls changeable input；And

Adder, described adder is configured to receive described changeable input and infusion pump motor rotary speed and rear pump motor Drive command.

19. is according to claim 18 for driving the closed control circuit of infusion pump motor, comprises front feeder further Footpath, described forward path is configured to described changeable input is sent to the output of described pump motor drive command.

20. according to claim 18 comprise look-up table further for driving the closed control circuit of infusion pump motor, Described look-up table receives the infusion pump motor rotary speed as input and injector type and is configured to power output order, wherein Described power order is imported into combiner.

21. is according to claim 20 for driving the closed control circuit of infusion pump motor, wherein said combiner quilt It is configured to receive described power order as input and power output error, and wherein said proportional gain module and described integration Gain module is configured to receive the described power error as input.